function e = computerEssentialErrorVector(x,F)


f11=F(1,1);
f12=F(1,2);
f13=F(1,3);
f21=F(2,1);
f22=F(2,2);
f23=F(2,3);
f31=F(3,1);
f32=F(3,2);
f33=F(3,3);

fc=x(1,1);
ux=x(1,2);
vy=x(1,3);

e =[
 
                                                                                                                                                                                                                                                                                                                                        (2*fc^4*f11^2+2*fc^4*f12^2+(2*fc*f11*ux+2*fc*f12*vy+2*fc*f13)*(fc*f11*ux+fc*f12*vy+fc*f13))*fc^2*f11+(2*fc^4*f11*f21+2*fc^4*f12*f22+(2*fc*f11*ux+2*fc*f12*vy+2*fc*f13)*(fc*f21*ux+fc*f22*vy+fc*f23))*fc^2*f21+(2*fc^3*f11*(ux*f11+vy*f21+f31)+2*fc^3*f12*(ux*f12+vy*f22+f32)+(2*fc*f11*ux+2*fc*f12*vy+2*fc*f13)*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33))*(ux*f11+vy*f21+f31)*fc-(fc^4*f11^2+fc^4*f12^2+(fc*f11*ux+fc*f12*vy+fc*f13)^2+fc^4*f21^2+fc^4*f22^2+(fc*f21*ux+fc*f22*vy+fc*f23)^2+(ux*f11+vy*f21+f31)^2*fc^2+(ux*f12+vy*f22+f32)^2*fc^2+((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)^2)*fc^2*f11
                                                                                                                                                                                                                                                                                                                                        (2*fc^4*f11^2+2*fc^4*f12^2+(2*fc*f11*ux+2*fc*f12*vy+2*fc*f13)*(fc*f11*ux+fc*f12*vy+fc*f13))*fc^2*f12+(2*fc^4*f11*f21+2*fc^4*f12*f22+(2*fc*f11*ux+2*fc*f12*vy+2*fc*f13)*(fc*f21*ux+fc*f22*vy+fc*f23))*fc^2*f22+(2*fc^3*f11*(ux*f11+vy*f21+f31)+2*fc^3*f12*(ux*f12+vy*f22+f32)+(2*fc*f11*ux+2*fc*f12*vy+2*fc*f13)*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33))*(ux*f12+vy*f22+f32)*fc-(fc^4*f11^2+fc^4*f12^2+(fc*f11*ux+fc*f12*vy+fc*f13)^2+fc^4*f21^2+fc^4*f22^2+(fc*f21*ux+fc*f22*vy+fc*f23)^2+(ux*f11+vy*f21+f31)^2*fc^2+(ux*f12+vy*f22+f32)^2*fc^2+((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)^2)*fc^2*f12
                                                                                                                                                                                                                                 (2*fc^4*f11^2+2*fc^4*f12^2+(2*fc*f11*ux+2*fc*f12*vy+2*fc*f13)*(fc*f11*ux+fc*f12*vy+fc*f13))*(fc*f11*ux+fc*f12*vy+fc*f13)+(2*fc^4*f11*f21+2*fc^4*f12*f22+(2*fc*f11*ux+2*fc*f12*vy+2*fc*f13)*(fc*f21*ux+fc*f22*vy+fc*f23))*(fc*f21*ux+fc*f22*vy+fc*f23)+(2*fc^3*f11*(ux*f11+vy*f21+f31)+2*fc^3*f12*(ux*f12+vy*f22+f32)+(2*fc*f11*ux+2*fc*f12*vy+2*fc*f13)*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33))*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)-(fc^4*f11^2+fc^4*f12^2+(fc*f11*ux+fc*f12*vy+fc*f13)^2+fc^4*f21^2+fc^4*f22^2+(fc*f21*ux+fc*f22*vy+fc*f23)^2+(ux*f11+vy*f21+f31)^2*fc^2+(ux*f12+vy*f22+f32)^2*fc^2+((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)^2)*(fc*f11*ux+fc*f12*vy+fc*f13)
                                                                                                                                                                                                                                                                                                                                        (2*fc^4*f11*f21+2*fc^4*f12*f22+(2*fc*f21*ux+2*fc*f22*vy+2*fc*f23)*(fc*f11*ux+fc*f12*vy+fc*f13))*fc^2*f11+(2*fc^4*f21^2+2*fc^4*f22^2+(2*fc*f21*ux+2*fc*f22*vy+2*fc*f23)*(fc*f21*ux+fc*f22*vy+fc*f23))*fc^2*f21+(2*fc^3*f21*(ux*f11+vy*f21+f31)+2*fc^3*f22*(ux*f12+vy*f22+f32)+(2*fc*f21*ux+2*fc*f22*vy+2*fc*f23)*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33))*(ux*f11+vy*f21+f31)*fc-(fc^4*f11^2+fc^4*f12^2+(fc*f11*ux+fc*f12*vy+fc*f13)^2+fc^4*f21^2+fc^4*f22^2+(fc*f21*ux+fc*f22*vy+fc*f23)^2+(ux*f11+vy*f21+f31)^2*fc^2+(ux*f12+vy*f22+f32)^2*fc^2+((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)^2)*fc^2*f21
                                                                                                                                                                                                                                                                                                                                        (2*fc^4*f11*f21+2*fc^4*f12*f22+(2*fc*f21*ux+2*fc*f22*vy+2*fc*f23)*(fc*f11*ux+fc*f12*vy+fc*f13))*fc^2*f12+(2*fc^4*f21^2+2*fc^4*f22^2+(2*fc*f21*ux+2*fc*f22*vy+2*fc*f23)*(fc*f21*ux+fc*f22*vy+fc*f23))*fc^2*f22+(2*fc^3*f21*(ux*f11+vy*f21+f31)+2*fc^3*f22*(ux*f12+vy*f22+f32)+(2*fc*f21*ux+2*fc*f22*vy+2*fc*f23)*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33))*(ux*f12+vy*f22+f32)*fc-(fc^4*f11^2+fc^4*f12^2+(fc*f11*ux+fc*f12*vy+fc*f13)^2+fc^4*f21^2+fc^4*f22^2+(fc*f21*ux+fc*f22*vy+fc*f23)^2+(ux*f11+vy*f21+f31)^2*fc^2+(ux*f12+vy*f22+f32)^2*fc^2+((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)^2)*fc^2*f22
                                                                                                                                                                                                                                 (2*fc^4*f11*f21+2*fc^4*f12*f22+(2*fc*f21*ux+2*fc*f22*vy+2*fc*f23)*(fc*f11*ux+fc*f12*vy+fc*f13))*(fc*f11*ux+fc*f12*vy+fc*f13)+(2*fc^4*f21^2+2*fc^4*f22^2+(2*fc*f21*ux+2*fc*f22*vy+2*fc*f23)*(fc*f21*ux+fc*f22*vy+fc*f23))*(fc*f21*ux+fc*f22*vy+fc*f23)+(2*fc^3*f21*(ux*f11+vy*f21+f31)+2*fc^3*f22*(ux*f12+vy*f22+f32)+(2*fc*f21*ux+2*fc*f22*vy+2*fc*f23)*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33))*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)-(fc^4*f11^2+fc^4*f12^2+(fc*f11*ux+fc*f12*vy+fc*f13)^2+fc^4*f21^2+fc^4*f22^2+(fc*f21*ux+fc*f22*vy+fc*f23)^2+(ux*f11+vy*f21+f31)^2*fc^2+(ux*f12+vy*f22+f32)^2*fc^2+((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)^2)*(fc*f21*ux+fc*f22*vy+fc*f23)
                                                                                                                               (2*fc^3*f11*(ux*f11+vy*f21+f31)+2*fc^3*f12*(ux*f12+vy*f22+f32)+(2*(ux*f11+vy*f21+f31)*ux+2*(ux*f12+vy*f22+f32)*vy+2*ux*f13+2*vy*f23+2*f33)*(fc*f11*ux+fc*f12*vy+fc*f13))*fc^2*f11+(2*fc^3*f21*(ux*f11+vy*f21+f31)+2*fc^3*f22*(ux*f12+vy*f22+f32)+(2*(ux*f11+vy*f21+f31)*ux+2*(ux*f12+vy*f22+f32)*vy+2*ux*f13+2*vy*f23+2*f33)*(fc*f21*ux+fc*f22*vy+fc*f23))*fc^2*f21+(2*(ux*f11+vy*f21+f31)^2*fc^2+2*(ux*f12+vy*f22+f32)^2*fc^2+(2*(ux*f11+vy*f21+f31)*ux+2*(ux*f12+vy*f22+f32)*vy+2*ux*f13+2*vy*f23+2*f33)*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33))*(ux*f11+vy*f21+f31)*fc-(fc^4*f11^2+fc^4*f12^2+(fc*f11*ux+fc*f12*vy+fc*f13)^2+fc^4*f21^2+fc^4*f22^2+(fc*f21*ux+fc*f22*vy+fc*f23)^2+(ux*f11+vy*f21+f31)^2*fc^2+(ux*f12+vy*f22+f32)^2*fc^2+((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)^2)*(ux*f11+vy*f21+f31)*fc
                                                                                                                               (2*fc^3*f11*(ux*f11+vy*f21+f31)+2*fc^3*f12*(ux*f12+vy*f22+f32)+(2*(ux*f11+vy*f21+f31)*ux+2*(ux*f12+vy*f22+f32)*vy+2*ux*f13+2*vy*f23+2*f33)*(fc*f11*ux+fc*f12*vy+fc*f13))*fc^2*f12+(2*fc^3*f21*(ux*f11+vy*f21+f31)+2*fc^3*f22*(ux*f12+vy*f22+f32)+(2*(ux*f11+vy*f21+f31)*ux+2*(ux*f12+vy*f22+f32)*vy+2*ux*f13+2*vy*f23+2*f33)*(fc*f21*ux+fc*f22*vy+fc*f23))*fc^2*f22+(2*(ux*f11+vy*f21+f31)^2*fc^2+2*(ux*f12+vy*f22+f32)^2*fc^2+(2*(ux*f11+vy*f21+f31)*ux+2*(ux*f12+vy*f22+f32)*vy+2*ux*f13+2*vy*f23+2*f33)*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33))*(ux*f12+vy*f22+f32)*fc-(fc^4*f11^2+fc^4*f12^2+(fc*f11*ux+fc*f12*vy+fc*f13)^2+fc^4*f21^2+fc^4*f22^2+(fc*f21*ux+fc*f22*vy+fc*f23)^2+(ux*f11+vy*f21+f31)^2*fc^2+(ux*f12+vy*f22+f32)^2*fc^2+((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)^2)*(ux*f12+vy*f22+f32)*fc
 (2*fc^3*f11*(ux*f11+vy*f21+f31)+2*fc^3*f12*(ux*f12+vy*f22+f32)+(2*(ux*f11+vy*f21+f31)*ux+2*(ux*f12+vy*f22+f32)*vy+2*ux*f13+2*vy*f23+2*f33)*(fc*f11*ux+fc*f12*vy+fc*f13))*(fc*f11*ux+fc*f12*vy+fc*f13)+(2*fc^3*f21*(ux*f11+vy*f21+f31)+2*fc^3*f22*(ux*f12+vy*f22+f32)+(2*(ux*f11+vy*f21+f31)*ux+2*(ux*f12+vy*f22+f32)*vy+2*ux*f13+2*vy*f23+2*f33)*(fc*f21*ux+fc*f22*vy+fc*f23))*(fc*f21*ux+fc*f22*vy+fc*f23)+(2*(ux*f11+vy*f21+f31)^2*fc^2+2*(ux*f12+vy*f22+f32)^2*fc^2+(2*(ux*f11+vy*f21+f31)*ux+2*(ux*f12+vy*f22+f32)*vy+2*ux*f13+2*vy*f23+2*f33)*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33))*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)-(fc^4*f11^2+fc^4*f12^2+(fc*f11*ux+fc*f12*vy+fc*f13)^2+fc^4*f21^2+fc^4*f22^2+(fc*f21*ux+fc*f22*vy+fc*f23)^2+(ux*f11+vy*f21+f31)^2*fc^2+(ux*f12+vy*f22+f32)^2*fc^2+((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)^2)*((ux*f11+vy*f21+f31)*ux+(ux*f12+vy*f22+f32)*vy+ux*f13+vy*f23+f33)
                                                                                                                               %fc^4*f11*f22*f33-fc^4*f11*f23*f32-fc^4*f21*f12*f33+fc^4*f21*f13*f32+f31*fc^4*f12*f23-f31*fc^4*f22*f13
 ];

end




